摘要
基于C8051F340单片机设计了一种适用于水田作业环境下的除草机器人平台控制系统,简述了控制系统的硬件组成、设计原理和软件设计的思想与结构。系统主要由车载控制模块、PC端转译发射模块、遥控端控制模块三部分组成,可实现自动导航控制及手动遥控两种功能。田间测试结果表明:系统可实现水田环境下机器人平台的平稳行走控制,可进行8个自由度的运动,平台行走速度为0.2m/s,具有30ms的快速反应速度;配置机械弹性触觉除草器进行试验,除草率和伤苗率分别为81.3%和3.6%。
A control system of a mini-weeding-robot platform was developed based on C8051F340 single-chip microcomputer and tested in paddy field. The design process of the hardware and the flow of the software were described. The control system was composed of three module, the onboard control system module, the data translation and transmission module on PC and the remote control module. The remote control module can complete automatic navigation control with the image information and manual remote control. Field test results show that the mini-weeding-robot platform can walk in the paddy field with the speed of 0.2 m/s, eight-degree-of-freedom movement, and rapid response speed of 30 ms. The clean rate was 81.3% and the injury rate of rice seedlings was 3.6~ using mechanical touching weeder.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2013年第4期991-996,共6页
Journal of Jilin University:Engineering and Technology Edition
基金
现代农业产业技术体系建设专项项目(CARS-01-33)
关键词
农业工程
水田
小型除草机器人平台
控制系统
设计与测试
agricultural engineering
rice paddy field
mini-weeding-robot platform
, control system
design and testing
